1. Fanuc
  2. FANUC AC Servo Software 90B3 / 90B7 Series Angle based Learning Control Specification Manual

FANUC AC Servo Software 90B3 / 90B7 Series Angle based Learning Control Specification Manual Additional Manual Page 6

Additional Manual
Title 90B3 / 90B7 Angle Based
Learning Control Specification Manual
Draw No.
A - 63639E - 119
01 ’04.02.23 K.Maeda Newly designed Sheet 06
Edit Date Design Description / 10
♦ Relation between Angle based Learning controller and Parameters
*1 Fx : Learning band. The higher you set Leaning band, precision is high. But stability is low.
*2 Gx : Dynamic characteristc compensation. Approximation model of controled object.
Parameters
2241
(FS16i )
Expansion coeficient of Angle based Learning period
2654
(FS15i )
2242
(FS16i )
Angle based Learning period
2655
(FS15i )
(Setting range) from 1 to 32767 (greater or equal 16 times of delayed memory number δ
δδ
δ)
(Setting unit) detective unit (case of refering to the other axis, detective init is that axis)
You should set Angle based Learning period by detective unit. If this period is above 32767, you
should set expansion coeficient.
(Angle based Learning period) = (N2241) × (N2242)
If N2241 is zero, servo software handles as 1 internally.
(Example) Case of 3600000 pluses per one rotation, you should set the following.
N2241 = 10000, N2242 = 360
2243
(FS16i )
Minimum time period
2656
(FS15i )
(Setting range) from 20 to 32767
(Setting unit) msec
(Standard) In case that Maximum speed of reference position is 1500 min
-1
, one
rotation time of 300 min
-1
(one fifth of 1500 min
-1
) is 200 min
-1
. you
should set 200 msec/rev.
In case that Angle based Learning period is one motor rotation, you must set one rotation time of
maximum speed for this parameter. This parameter decides delayed memory number δ
δδ
δ.
In case of sampling 1ms, when this parameter is zero, servo software handles as 200 internally.
When mimimum time period is L, sampling t, delayed memory number δ
δδ
δ is the following.
δ
δδ
δ = L / t < mounting memory (Maximun clamp is 10000)
Delayed Memory
HRV
control
Position error
+
+
Reference
Position
Convert
Fx
N2244
Convert
Gx
N2246
N2247
N2248
N2249
N2243
One rotation = N2241×N2242
G05 or
G320
Previous page
Next page

Contents Summary of FANUC AC Servo Software 90B3 / 90B7 Series Angle based Learning Control Specification Manual Additional Manual

  • Page 1FANUC AC SERVO SOFTWARE 90B3 / 90B7 Series Angle based Learning Control Specification Manual 1. Overview 2. Configuration 3. Application servo software series / edition 4. Parameters 5. PMC signals 6. Alarm (CAUTION) The contents of this manual may be changed as a result of improvements to the servo
  • Page 21. Overview We have developed Angle based Learning control to usual Time based Learning control. This function merit is the following. • This function provides not time but angle as Learning period. Therefore this function can apply to variable time period application that is difficult to realize by
  • Page 32. Configuration The start of Angle based Learning control are the usual way to synchronize the start of High-speed cutting (G05) and the new way to synchronize the start of PMC signal. It is necessary to refer to angle as a standard. You can select position feedback or position command as this refe
  • Page 4You can apply Spindle Learning control with angle based to rotary axis. 2) Application example in Flexible Synchronous Control Synchronous shaving machine CNC Servo control or Spindle control FSC Learning Learning Master axis controller controller Command Kp Kp Position error Gear Ratio Reference Sl
  • Page 53. Application servo software series / edition • 90B7 / 13(M) or later • 90B3 / 14 (N) or later (next edition planning) 4. Parameters Function bit #7 #6 #5 #4 #3 #2 #1 #0 2008 (FS16i ) SLEN 1952 (FS15i ) SLEN (#5) Learning control is (L-axis only) 0: not available. 1: available. (Option) #7 #6 #5 #4
  • Page 6♦ Relation between Angle based Learning controller and Parameters N2243 N2244 Fx Delayed Memory Convert Convert Reference Position N2246 One rotation = N2241×N2242 N2247 Gx N2248 N2249 G05 or G320 + Position error + HRV control *1 Fx : Learning band. The higher you set Leaning band, precision is hig
  • Page 7We suggest that you select minimum time period as the quotient of (Angle based Learning period) divided by (delayed memory number) is integer. 2244 (FS16i ) Learning frequency band 2657 (FS15i ) (Setting range) Case of sampling 1msec, from 0 to 350 Case of sampling 0.5msec, from 0 to 700 (Setting un
  • Page 82250 (FS16i ) Delay compensation 2663 (FS15i ) (Setting range) from –32767 to +32767 (Plus is forward, Minus is delay) (Setting unit) nsec When reference to M-axis (M-axis : N2227#5 = 1), one sampling is delayed. Angle based Learning controller compensates sampling delay of reference position by thi
  • Page 95. PMC signal If you input the following PMC signal, Angle based Learning control starts and finishes at point of any time without G05. This function can be used in Series 16i –B with supported General purpose DI/DO. #7 #6 #5 #4 #3 #2 #1 #0 G0320 SVDI08 SVDI07 SVDI06 SVDI05 SVDI04 SVDI03 SVDI02 SVDI
  • Page 106. Alarm In case that there is a problem in parameter setting, the following "PARAMETER INCORRECT" displays. Alarm Parameter No. Parameter No. derail No. (FS15i ) (FS16i ) Cause Measures 2402 2241 Case that the quotient 1) Minimum time period is 2242 which divides Angle increased. based Learning per